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Found 15 papers, 0 papers with code
Contraction analysis of time-varying DAE systems via auxiliary ODE systems
The first result pertains to the equivalence of the contraction of a DAE system and the uniform global exponential stability (UGES) of its variational DAE system.
Output contraction analysis of nonlinear systems
This paper introduce the notion of output contraction that expands the contraction notion to the time-varying nonlinear systems with output.
Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward.
Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints
The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators.
Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second joint being actuated (referred to as the passive-active (PA) manipulators).
Flexible Distributed Flocking Control for Multi-agent Unicycle Systems
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair of connected agents is fixed.
Cooperative Nearest-Neighbor Control of Multi-Agent Systems: Consensus and Formation Control Problems
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points.
Range-Only Bearing Estimator for Localization and Mapping
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied.
Collision-free Source Seeking and Flocking Control of Multi-agents with Connectivity Preservation
We present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints.
Data-driven dissipative verification of LTI systems: multiple shots of data, QDF supply-rate and application to a planar manipulator
We present a data-driven dissipative verification method for LTI systems based on using multiple input-output data.
Secure Formation Control via Edge Computing Enabled by Fully Homomorphic Encryption and Mixed Uniform-Logarithmic Quantization
Recent developments in communication technologies, such as 5G, together with innovative computing paradigms, such as edge computing, provide further possibilities for the implementation of real-time networked control systems.
Kron-based Model-order Reduction of Open Mass-action Kinetics Chemical Reaction Networks
We propose a Kron-based model-order reduction method for mass-action kinetics chemical reaction networks (CRN) with constant inflow and proportional outflow.
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control
In this work we exploit the universal approximation property of Neural Networks (NNs) to design interconnection and damping assignment (IDA) passivity-based control (PBC) schemes for fully-actuated mechanical systems in the port-Hamiltonian (pH) framework.
Homomorphic Encryption-Enabled Distance-Based Distributed Formation Control with Distance Mismatch Estimators
Simulation results show that, despite the use of encrypted data on the controller and errors introduced by the quantization process prior to the encryption, the formation is able to converge to the desired shape.
On the one-shot data-driven verification of dissipativity of LTI systems with general quadratic supply rate function
Based on a one-shot input-output set of data from an LTI system, we present a verification method of dissipativity property based on a general quadratic supply-rate function.
